1.2. Fast DDS Image

This Docker image contains the Fast DDS library and its dependencies, ready to be used in a final user application. This includes:

• eProsima Fast DDS libraries and examples: Fast DDS libraries bundled with several examples that showcase a variety of capabilities of eProsima’s Fast DDS implementation.

To load this image into your Docker repository, from a terminal, run:

docker load -i "ubuntu-fastdds <FastDDS-Version>.tar"

You can run this Docker container as follows:

docker run -it ubuntu-fastdds:<FastDDS-Version>

From the resulting Bash Shell you can run each feature.

1.2.1. Fast DDS Examples

Included in this Docker container is a set of binary examples that showcase several functionalities of the Fast DDS libraries. These examples’ path can be accessed from a terminal by typing:

goToExamples

From this folder, you can access all examples, both for DDS and RTPS layers.

1.2.1.1. Hello World Example

This is a minimal example that will perform a Publisher/Subscriber match and start sending samples.

goToExamples
cd hello_world/bin
tmux new-session "./hello_world publisher" \; \
     split-window "./hello_world subscriber" \; \
     select-layout even-vertical

This example is not constrained to the current instance. It’s possible to run several instances of this container to check the communication between them by running the following from each container.

goToExamples
cd hello_world/bin
./hello_world publisher

or

goToExamples
cd hello_world/bin
./hello_world subscriber